Interfacing dSPACE to the Quanser Rotary Series of Experiments (SRV02ET)

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Interfacing dSPACE to the Quanser Rotary Series of Experiments (SRV02ET)










Interfacing dSPACE to the
Quanser Rotary Series of Experiments (SRV02ET)
Nicanor Quijano and Kevin M. Passino
The Ohio State University,
Department of Electrical Engineering,
2015 Neil Avenue, Columbus Ohio, 43210, USA
March 22, 2002
Abstract
This document presents the main steps needed to interface the Quanser rotary series of experiments
to the DS1104 dSPACE data acquisition card and software. The rotary series include the DC servo,exible link, exible joint, ball on a beam, and rotational inverted pendulum. First, we discuss theQuanser Universal Power Module (UPM), DC servo motor (that is used in all the other experimentsin the rotary series), and the Quanser DS1104 Interface Board. Second, we provide a description of howto connect to the potentiometer, encoder, and tachometer on the DC servo. Finally, we explain how toconnect all the remaining experiments in the rotary series.
Contents
1 Connecting the DC Servo
2
1.1 Quanser Universal Power Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1.2 Quanser DS1104 Interface Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2
1.3 DC Servo Motor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3
2 Connecting the Quanser Flexible Joint
6
1







1
Connecting the DC Servo
The main components to focus on in connecting the Quanser experiments are the Power Module, the DS1104Interface Board, and the servo rotary motor. With these elements, plus the necessary interface cables, weare able to run most of the plants that were designed by Quanser (http://www.quanser.com/).
1.1
Quanser Universal Power Module
This module is shown in the Figure 1 (the cables that we are going to use are not connected in the sameway as you can see in this gure). From the Figure 1, we may identify the following connectors
1
:
From Analog Sensors (see boxed region in gure): These are